#include <stdbool.h>
#include "commander.h"
#include <ADRC_cal.h>
#include "attitude_pid.h"

extern ADRCObject ADRCAngleRoll;
extern ADRCObject ADRCAnglePitch;
extern ADRCObject ADRCAngleYaw;
extern ADRCObject ADRCRateRoll;
extern ADRCObject ADRCRatePitch;
extern ADRCObject ADRCRateYaw;

void ADRCControlInit(void);
void attitudeResetAllADRC(void);
void attitudeRateADRC(Axis3f *actualRate,attitude_t *desiredRate,control_t *output);
void attitudeAngleADRC(attitude_t *actualAngle,attitude_t *desiredAngle,attitude_t *outDesiredRate);
